CN208468395U - A kind of sweeping robot - Google Patents
A kind of sweeping robot Download PDFInfo
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- CN208468395U CN208468395U CN201820684576.8U CN201820684576U CN208468395U CN 208468395 U CN208468395 U CN 208468395U CN 201820684576 U CN201820684576 U CN 201820684576U CN 208468395 U CN208468395 U CN 208468395U
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- sweeping robot
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Abstract
The utility model embodiment discloses a kind of sweeping robot, comprising: robot body, crash device and collision detecting device；Crash device is set to the front side of the robot body；Collision detecting device includes the first collision detection element and the second collision detection element connecting with robot body, first collision detection element and the second collision detection element are set within the scope of the setting centered on crash device center line, and first collision detection element and the second collision detection element symmetry be located at the two sides of crash device center line, wherein, the corresponding central angle of range is set and is not more than 150 degree, first collision detection element and the second collision detection element respectively correspond a steering angle, when the first collision detection element or the second collision detection element are triggered, the steering of robot body is associated with the first collision detection element of corresponding triggering or the corresponding steering angle of the second collision detection element.
Description
Technical field
The utility model embodiment is related to household appliance technical field more particularly to a kind of sweeping robot.
Background technique
In recent years, with the rapid development of artificial intelligence technology, artificial intelligence technology has been widely used for household electrical appliance
Product.Wherein, important participant of the sweeping robot as household cleaning, to be increasingly widely used.
Sweeping robot is during realizing cleaning, in order to ensure sweeping robot can be real after colliding
Now intelligence turning, the prior art be the front side of sweeping robot be along the circumferential direction uniformly arranged multiple sensors respectively correspond it is more
A angle of turn.Since existing mentality of designing is all based on, circumferencial direction along sweeping robot is equally spaced to be uniformly arranged
Mode determines the position of sensor, equal when in order to ensure sweeping robot, its different location point collides during the motion
Can trigger sensor, the quantity of the sensor at least needs three or more, and sweeping robot is in front side along circle as known to certain
Circumferential direction is equally spaced when being uniformly arranged nine sensors and just can ensure that different location point collides in its traveling process
Triggering is able to achieve to turn to.However, to will lead to sweeping robot cost excessively high for the quantity increase of sensor.
Utility model content
To solve existing technical problem, the utility model embodiment provide it is a kind of it is at low cost, high sensitivity, be easy to
Detect the sweeping robot that collision occurs.
In order to achieve the above objectives, the technical solution of the utility model embodiment is achieved in that
A kind of sweeping robot, comprising: robot body, crash device and collision detecting device；The crash device
It is set to the front side of the robot body；The collision detecting device includes the first collision connecting with the robot body
Detecting element and the second collision detection element, the first collision detection element and the second collision detection element be set to
Within the scope of setting centered on the crash device center line, and the first collision detection element and second collision detection
Element symmetry it is located at the two sides of the crash device center line, wherein the corresponding central angle of the setting range is no more than 150
Degree, the first collision detection element and the second collision detection element respectively correspond a steering angle, when the first collision inspection
When survey element or the second collision detection element are triggered, the steering of the robot body and corresponding described first triggered
Collision detection element or the corresponding steering angle association of the second collision detection element.
Wherein, the first collision detection element and the second collision detection element are installed in the robot sheet respectively
On body, the first collision detection element includes the triggering end and output end of the first collision detection element, the second collision inspection
Survey the triggering end and output end that element includes the second collision detection element；The triggering end supports the interior table in the crash device
On face, the output end is electrically connected with the robot body.
Wherein, the robot body includes transfer, the first collision detection element and the second collision inspection
The output end for surveying element is electrically connected with the transfer respectively；The first collision detection element or second collision detection
When element is triggered, the corresponding output of the output end of the first collision detection element or the second collision detection element turns to letter
Number to the transfer realize turn to.
Wherein, the crash device includes the plate that hits being installed on front side of the robot body, and the plate that hits is arc-shaped, and
The center of circle for hitting plate place circle is overlapped with the center of circle of the robot body.
Wherein, the crash device further includes elastic component, and the elastic component is installed on the robot body and is located at
It is described to hit between plate and the robot body；The elastic component includes the department of assembly connecting with the robot body and from institute
Department of assembly is stated to the support division for hitting plate direction and extending, the support division is symmetrically located at the crash device center line
Two sides, the end of the support division supports on the inner surface for hitting plate.
Wherein, described to hit plate face and be equipped with hook to the inner surface of the robot body, before the robot body
Side is equipped with stopper section corresponding with the hook, and described hit is arranged between plate and the robot body by the stopper section
It is connected in the hook, the stopper section is used to limit the plate that hits to the position far from the robot body direction
It moves.
Wherein, the center of circle of the first collision detection element and the second collision detection element and the robot body
The angle that is correspondingly formed of line be 90 °~150 °.
Wherein, further includes: third collision detection element；The third collision detection element is set in the crash device
On heart line, the third collision detection element and the first collision detection element and the second collision detection element
Wherein, the first collision detection element and the second collision detection element respectively include microswitch, work as institute
When stating microswitch and being triggered, the steering of the robot body and the corresponding steering angle of the microswitch of corresponding triggering
Association.
Wherein, the first collision detection element and the second collision detection element respectively include collision type obstacle sensing
Device, when the collision type obstacle sensor is triggered, the robot body is turned to and the collision type of corresponding triggering
The corresponding steering angle association of obstacle sensor.
Sweeping robot provided by the utility model embodiment, collision detecting device include connecting with the robot body
The the first collision detection element and the second collision detection element connect, the first collision detection element and second collision detection
Element is set within the scope of the setting centered on the crash device center line, and the first collision detection element and described
Second collision detection element symmetry it is located at the two sides of the crash device center line, wherein during the setting range is corresponding
Heart angle is not more than 150 degree, through reasonable settings the position of the first collision detection element and the second collision detection element, it is ensured that
Sweeping robot can effectively trigger collision detecting device when its different location point collides during the motion, guarantee
The cost of sweeping robot is reduced while the sensitivity of sweeping robot and cleaning efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the sweeping robot that an embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram for the sweeping robot that another embodiment of the utility model provides；
Fig. 3 is the structural schematic diagram for the sweeping robot that another embodiment of the utility model provides；
Fig. 4 is the structural schematic diagram for hitting plate that another embodiment of the utility model provides；
Fig. 5 is the structural schematic diagram for the elastic component that another embodiment of the utility model provides；
Fig. 6 is the structural schematic diagram for hitting plate and robot body and snapping connection that another embodiment of the utility model provides；
Fig. 7 is the structural schematic diagram for the sweeping robot that another embodiment of the utility model provides；
Fig. 8 is the structural schematic diagram for the microswitch that another embodiment of the utility model provides.
Specific embodiment
Technical solutions of the utility model are further described in detail with reference to the accompanying drawings and specific embodiments of the specification.
Unless otherwise defined, the technology of all technical and scientific terms used herein and the technical field for belonging to the utility model
The normally understood meaning of personnel is identical.Terminology used in the description of the utility model herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in limitation the utility model.
Referring to Fig. 1, the structural schematic diagram of the sweeping robot provided for an embodiment of the present invention, comprising: machine
Human body 11, crash device 12 and collision detecting device 13, the crash device 12 are set to the robot body 11
Front side；The collision detecting device 13 includes that the first collision detection element 14 and second connecting with the robot body 11 touches
Detecting element 15 is hit, the first collision detection element 14 and the second collision detection element 15 are set to collision dress
It sets within the scope of the setting centered on 12 center line O-O, and the first collision detection element 14 and second collision detection member
Part 15 is symmetrically located at the two sides of the 12 center line O-O of crash device, wherein the corresponding central angle β of the setting range is not
Greater than 150 degree, the first collision detection element 14 and the second collision detection element 15 respectively correspond a steering angle, when described
When first collision detection element 14 or the second collision detection element 15 are triggered, the steering of the robot body 11 with it is right
The the first collision detection element 14 that should be triggered or the corresponding steering angle association of the second collision detection element 15.
Sweeping robot provided by the utility model above-described embodiment, the crash device 12 are set to the robot
The front side of ontology 11 refers to side of the sweeping robot in cleaning process always towards its direction advanced.First touches
Hit detecting element 14 and the second collision detection element 15 be symmetrically disposed on crash device 12 center line O-O two sides setting
In range, the corresponding central angle β of setting range is no more than 150 degree namely the first collision detection element 14 and the second collision detection
The angle in 15 position of element and the center of circle of robot body 11 is not more than 150 degree, in this way, first touching through reasonable settings
The position for hitting detecting element 14 and the second collision detection element 15, by the two sides center line O-O of crash device 12 beyond 150 degree
Exclusionary zone of the part as consideration setting collision detection element, and the first collision detection element 14 and the second collision detection is first
Part 15 is symmetrically disposed within the scope of 150 degree of the two sides center line O-O of crash device 12, so as to reduce collision detection member
Under the premise of quantity needed for part, while ensuring that the detection range that collision detection element is collectively formed can cover crash device
The full scope at 12 edges, it is ensured that sweeping robot can be effective when its different location point collides during the motion
Collision detecting device 13 is triggered, reduces sweeping robot while sensitivity and the cleaning efficiency for guaranteeing sweeping robot
Cost.
Wherein, the first collision detection element 14 and the second collision detection element 15 are set to collision dress
It sets within the scope of the setting centered on 12 center line O-O, and the first collision detection element 14 and second collision detection member
Part 15 is symmetrically located at the two sides of the 12 center line O-O of crash device, wherein the corresponding central angle β of the setting range is not
Greater than 150 degree, the first collision detection element 14 and described is respectively set in the two sides on the basis of the center line O-O of crash device 12
Second collision detection element 15, and the first collision detection element 14 and the second collision detection element 15 are with crash device 12
Center line O-O is symmetrical arranged for symmetry axis, 14 position of the first collision detection element and the second collision detection element 15
The angle that the line in position and the center of circle of robot body 11 is constituted is β, and β is not more than 150 degree.
Wherein, the first collision detection element 14 and the second collision detection element 15 respectively correspond a steering angle, i.e.,
When sweeping robot detects barrier by the collision detecting device 13, angle and the collision detection that robot is turned to
The steering angle that device 13 is arranged is associated.For example, the first collision detection element 14 described in Fig. 1 and the second collision detection element
The steering angle of 15 settings is respectively α 1 and α 2.When crash device 12 and barrier collide, according to crash device 12 with
The position that collides between barrier and trigger opposite the first collision detection element 14 or the second closer to the position of collision
Collision detection element 15, when the first collision detection element 14 it is opposite closer to the position of collision when, i.e. the when sweeping robot
When one collision detection element 14 detects barrier, the angle that sweeping robot turns to is associated with α 1；When the second collision detection member
Part 15 it is opposite closer to the position of collision when, i.e., when the second collision detection element 15 detects barrier, angle that robot turns to
Degree is associated with α 2.In a kind of optional embodiment, the angle that sweeping robot turns to is 14 He of the first collision detection element
The angle that second collision detection element 15 is correspondingly arranged.That is, sweeping robot turns when the first collision detection element 14 is triggered
To angle be α 1；When the second collision detection element 15 is triggered, the angle that sweeping robot turns to is α 2.
In addition, it is necessary to turn that explanation, the first collision detection element 14 and the second collision detection element 15 are correspondingly arranged
The vector that can include steering direction to angle for one, or one only includes the scalar of steering angle size.It touches when first
It, can when hitting detecting element 14 and the corresponding steering angle of the second collision detection element 15 only to include the scalar of steering angle size
To pre-define the side that the first collision detection element 14 and the corresponding sweeping robot of the second collision detection element 15 turn to respectively
To.
In this way, in the case where two collision detection elements are only arranged, by by 14 He of the first collision detection element
The second collision detection element 15 is symmetrically disposed on the two sides of the 12 center line O-O of crash device, and the setting
The corresponding central angle β of range is not more than 150 degree, it is ensured that its different location point collides sweeping robot during the motion
When can trigger collision detecting device 13, reduce and sweep in the sensitivity and cleaning efficiency while for guaranteeing sweeping robot
The cost of floor-washing robot.
Referring to Fig. 2, the structural schematic diagram of the sweeping robot provided for another embodiment of the utility model, described first
Collision detection element 14 and the second collision detection element 15 are installed in respectively on the robot body 11, and described first touches
Hit the triggering end 141 and output end 142 that detecting element 14 includes the first collision detection element 14, the second collision detection element
15 include the triggering end 151 and output end 152 of the second collision detection element 15；The touching of the first collision detection element 14
The triggering end 151 of originator 141 and the second collision detection element is supported respectively on the inner surface of the crash device 12, institute
The output end 152 of the output end 142 and the second collision detection element 15 of stating the first collision detection element 14 respectively with it is described
Robot body 11 is electrically connected.
Here, the triggering end of the triggering end 141 of the first collision detection element 14 and the second collision detection element
151 support respectively on the inner surface of the crash device 12, for example, the crash device 12 when sweeping robot encounters barrier
When, crash device 12 is to generate displacement as stress point with the position that barrier collides, so that this can be pressed adjacent to first
The the first collision detection element 14 or the second collision detection element 15 of the position to collide, so that the first collision detection element
14 or second the triggering end of collision detection element 15 detect and collide, detect the first collision detection element to collide
14 or second collision detection element 15 output end according to the corresponding relationship with sweeping robot steering angle, pass through the first collision
The output end of detecting element 14 or the second collision detection element 15 exports corresponding turn signal to be turned to the realization of transfer 31
To.
In this way, in the case where two collision detection elements are only arranged, by by the first collision detection element 14 and second
The triggering end of collision detection element 15 supports the inner surface in crash device 12, and output end is electrically connected with robot body 11,
Ensure that sweeping robot can trigger collision detecting device 13 when its different location point collides during the motion,
Guarantee the cost that sweeping robot is reduced while sensitivity and the cleaning efficiency of sweeping robot.
Further, referring to Fig. 3, the robot body 11 includes transfer 31, the first collision detection member
The output end of part 14 and the second collision detection element 15 is electrically connected with the transfer 31 respectively；The first collision inspection
When survey element 14 or the second collision detection element 15 are triggered, the first collision detection element 14 or described second is collided
The corresponding turn signal that exports of the output end of detecting element 15 is turned to the transfer 31 realization.
Wherein, the triggering end of the 14 or described second collision detection element 15 of the first collision detection element supports respectively
On the inner surface of the crash device 12, when the crash device 12 of sweeping robot encounters barrier, crash device 12 with
The position that barrier collides generates displacement for stress point, collides relatively closer to this to can be expressed to first
The the first collision detection element 14 or the second collision detection element 15 of position, so that the first collision detection element 14 or the second touches
The triggering end for hitting detecting element 15, which detects, to collide, and detects the first collision detection element 14 to collide or institute
The output end of the second collision detection element 15 is stated then according to the corresponding relationship with sweeping robot steering angle, passes through the first collision
Turn signal is exported and realizes steering to transfer 31 by the output end of detecting element 14 or the second collision detection element 15.It is optional
, transfer 31 may include microcontroller and universal wheel, collide when the first collision detection element 14 detects, will turn
Microcontroller is sent to by the output end 142 of the first collision detection element 14 to signal, microcontroller is examined according to the first collision
It surveys the corresponding controlling steering angle universal wheel of element 14 and realizes steering.
Specifically, the crash device 12 includes being installed on front side of the robot body 11 to hit plate 41, incorporated by reference to ginseng
Read Fig. 2 and Fig. 4, it is described to hit that plate 41 is arc-shaped, and it is described hit plate 41 where the center of circle of circle and the center of circle of the robot body 11
It is overlapped.In this way, hitting the front side that plate 41 can be closely buckled in robot body 11, the stabilization of entire sweeping robot structure ensure that
Property, while when sweeping robot is when hitting plate 41 and encountering barrier, plate 41 is hit and 11 concentric of robot body connects due to described
It connects, the center location for hitting circle where hitting plate 41 when the generation displacement of 41 opposed robots' ontology 11 of plate will change, in this way, hitting plate
41 it is not ipsilateral, such as hit when the left and right side of the center line of plate 41 collides and hit the center location situation of change of plate 41 not
Together, it can be corresponded to according to the change in location situation in the center of circle for hitting plate 41 and determine the side for hitting the position that plate 41 collides, improved
The triggering end of first collision detection element 14 or the second collision detection element 15 detects the accuracy to collide, it is ensured that
Sweeping robot can trigger collision detecting device 13 when its different location point collides during the motion.
Further, referring to Fig. 5, the inner surface of the plate 41 towards the robot body 11 that hit is equipped with hook
61, the front side of the robot body 11 is equipped with stopper section 62 corresponding with the hook 61, described to hit plate 41 and the machine
It is arranged in the hook 61 and is connected by the stopper section 62 between human body 11, the stopper section 62 is described for limiting
Plate 41 is hit to the displacement far from 11 direction of robot body.
In this way, hitting for sweeping robot is arranged in the card by the stopper section 62 between plate 41 and robot body 11
It hooks in 61 and connects, wherein hook 61 cannot be to the center far from the robot body 11 by keeping out for stopper section 62
Direction movement is prevented by the cooperation of hook 61 and stopper section 62 and hits plate 41 from robot body 11 to far from the machine
The direction at the center of human body 11 detaches；On the other hand, the stopper section 62 is close to the one of the center of the robot body 11
Side forms an accommodating space, and hook 61 can be in the accommodating space along the radial direction of robot body 11 relative to the stopper section 62
Movement is generated, that is, hitting plate 41 can be relative to robot body 11 radially to close to the robot after by barrier impacts
The direction at the center of ontology 11 generates displacement, and hitting plate 41 can be by the receipts relative to the range of the generation displacement of robot body 11
The size for holding space is adjusted, and hits phase interworking between the hook 61 of plate 41 and the stopper section 62 of robot body 11 by this
It closes, it is ensured that the different location point that sweeping robot hits plate 41 during the motion being capable of opposed robots' ontology when colliding
11 generate the displacement of different directions, to can trigger collision detecting device 13.
In another specific embodiment, the first collision detection element 14 and the second collision detection element 15 with
The angle that the line in the center of circle of the robot body 11 is correspondingly formed is 90 °~150 °.Wherein, the setting range is corresponding
Central angle β is 90 °~150 °, and crash device center line refers to center line O-O shown in Fig. 1, with 12 center line of crash device
The first collision detection element 14 and the second collision detection element 15, and the first collision is respectively set in two sides on the basis of O-O
Detecting element 14 and the second collision detection element 15 are symmetrical arranged by symmetry axis of center line O-O, the first collision detection member
The angle that the line in the center of circle of part 14 and the second collision detection element 15 and robot body 11 is constituted is that β is arranged at 90 °
To within the scope of 150 °.
In this way, in the case where two collision detection elements are only arranged, by being symmetrical arranged two collision detection elements, together
When by the angle that the line in two collision detection elements and the center of circle of robot body 11 is correspondingly formed set 90 °~150 °,
Ensure that can trigger collision detecting device 13 after sweeping robot is hit from front side and the left and right sides.
Further, the crash device 12 further includes elastic component 51, and the elastic component 51 is installed in the robot sheet
On body 11 and it is located at described hit between plate 41 and the robot body 11；Please refer to Fig. 3 and Fig. 6, the elastic component 51
Extend including the department of assembly 52 being connect with the robot body 11 and from the department of assembly 51 to 41 direction of plate of hitting
Support division 53, the support division 53 is symmetrically located at the two sides of the 12 center line O-O of crash device, the support division 53
End supports on the inner surface for hitting plate 41.
Here, the support division 53 of the elastic component 51 includes hitting plate to described from the both ends of the department of assembly 14 respectively
The first bending part 54 and the second bending part 55 that 41 directions extend, first bending part 54 and two bending part 55 are total
With formation from the department of assembly 52 to the shape for hitting 41 position flaring of plate, first bending part 54 and the eighty percent discount
Turn of bilge 55 is symmetricly set on the two sides for hitting 41 center line O-O of plate.
First bending part 54 and the second bending part 55 hit 41 two sides center line O-O of plate, therefore, bullet described in being symmetrically disposed in
Property part 51 be applied to the stress point position for hitting the resist force on plate 41 and remain balance, the elastic component 51 is hit described
After plate 41 is by occurring elastic deformation when generating displacement relative to the robot body 11 under external force, elastic component 51 passes through
Restore elastic deformation and it is opposite hit the generation of plate 41 uniformly support active force to push described hit before plate 41 is restored to generation displacement
Initial position, until the first bending part 54 and the second bending part 55 of elastic component 51 restore relative to plate 41 is hit in symmetry shape
State, it is first before hitting the generation displacement of plate 41 that elastic component 51, which is applied to the stress point equilbrium position for hitting the resist force on plate 41,
Beginning position, in this way, sweeping robot can restore rapidly and effectively the form to collision after colliding every time, really
Protect the stability and reliability of sweeping robot work.
As a kind of specific embodiment, towards the machine on first bending part 54 and second bending part 55
The side of human body 11 is respectively arranged with hook 56, the robot body 11 be equipped with 56 corresponding card columns of the hook,
The elastic component 51 is articulated in the card column by the hook 56 and is connect with the robot body 11.Wherein, card column
It is set to the edge of the robot body 11 and is hit at the position of plate 41 close to described, the relatively described robot sheet of the card column
The plane perpendicular of body 11 extends.When the elastic component 51 is installed on robot body 11,56 face of hook of elastic component 51 can be existed
The top of card column is contained in hook 56 first and elastic component 51 is carried over the card column and slided gradually downward by the top of card column
It is dynamic, so that hook 51 is articulated in respectively in corresponding card column；It, can be in this way, elastic component 51 56 is articulated in card column by hook
It limits elastic component 51 and is detached from robot body along the direction perpendicular to the card column, i.e. the radial direction movement of sweeping robot
11.It should be understood that elastic component 51 can be carried over card column when needing to dismantle elastic component 51 from robot body 11
Direction upward sliding, until the top of card column skids off hook 56, to facilitate the installation and removal of elastic component 51.
As a kind of specific embodiment, it is provided with tongue piece 57 in the department of assembly 52, is set on the robot body 11
It is equipped with protrusion corresponding with the tongue piece 57, the tongue piece 57 is supported in the lower section of the protrusion to limit 51 phase of elastic component
Movement to the robot body 11.Wherein, the tongue piece 57 be from department of assembly 52 close to the surface of the robot body 11 to
The elastic slice that the direction of the robot body 11 extends with the corresponding site for being equipped with the tongue piece 57 is hollow out in the department of assembly 52
Portion can correspond to when tongue piece 57 is squeezed by external force and be contained in the hollow-out parts, then protect when tongue piece 57 is not affected by when external force squeezes
The opposite department of assembly 52 is held close to the surface of the robot body 11 state outstanding.The elastic component 51 is installed on robot body
When 11, elastic component 51 can be placed in the top of robot body 11 and tongue piece 57 is aligned with protrusion, gradually downward by elastic component 51
Sliding, tongue piece 57 is corresponding by raised extruding to be contained in the hollow-out parts of department of assembly 52, when elastic component 51 slides down to
When tongue piece 57 is located at the lower section of protrusion, tongue piece 57 be no longer influenced by the extruding of external force and the opposite department of assembly 52 close to the robot sheet
The surface of body 11 is prominent, in this way, the tongue piece 57 can support the lower section of the protrusion on the robot body 11, prevents described
51 opposed robots' ontology of elastic component, 11 upward sliding.Elastic component 51 is supported by tongue piece 57 in the lower section of protrusion, can be limited
Elastic component 51 is detached from along the direction of the bottom surface perpendicular to the robot body 11, i.e. the axial direction movement of sweeping robot
Robot body 11.
Referring to Fig. 7, the structural schematic diagram of the sweeping robot provided for another embodiment of the utility model, further includes:
Third collision detection element 71；The third collision detection element 71 is set on the 12 center line O-O of crash device, described
Third collision detection element 71 is identical as the first collision detection element 14 and the second collision detection element 15.Here,
The company of the third collision detection element 71 and the first collision detection element 14 and the second collision detection element 15
It is identical to connect mode.
In this way, passing through increase by one and the first collision detection element 14 and the identical third of the second collision detection element 15
Collision detection element 71, on 12 center line of crash device being arranged, when crash device 12 and barrier collide, institute
The 14 or described second collision detection element 15 of the first collision detection element can be assisted by stating third collision detection element 71, more
Add the position for accurately positioning barrier, further increases the working efficiency of sweeping robot.
Fig. 8 is referred to, for the structural schematic diagram for the microswitch that another embodiment of the utility model provides, described first is touched
It hits detecting element 14 and the second collision detection element 15 can be microswitch 81.Wherein, microswitch 81 passes through two
Screw and its nut are fixedly mounted on robot body 11.Wherein, the microswitch 81 includes triggering end 82 and output end
83.Here, two microswitches are set within the scope of the setting centered on the 12 center line O-O of crash device, and described
First microswitch and the second microswitch are symmetrically located at the two sides of the 12 center line O-O of crash device, wherein described to set
The corresponding central angle β of range is set no more than 150 degree；The triggering end 82 of the microswitch supports in the crash device 12
On surface, the output end 83 is electrically connected with the robot body 11.
For example, the first collision detection element 14 of the sweeping robot is the first microswitch, the second collision detection member
Part 15 is the second microswitch, and the triggering end of first microswitch and the second microswitch is supported in the crash device 12
Inner surface on, when the crash device 12 of sweeping robot encounters barrier, the first microswitch or the second microswitch
Triggering end, which detects, to collide, the output end of the first microswitch or the second microswitch according to sweeping robot steering angle
The corresponding relationship of degree is realized turn signal to transfer 31 by the output end of the first microswitch or the second microswitch
It turns to.It, will when the first jogging switches measurement is to colliding for example, transfer 31 may include microcontroller and universal wheel
Turn signal is sent to microcontroller by the output end of the first microswitch, and microcontroller is according to the first collision detection element pair
It answers controlling steering angle universal wheel to realize to turn to.
In another specific embodiment, the first collision detection element 14 and the second collision detection element 15 can
To be collision type obstacle sensor.For example, the first collision detection element 14 of the sweeping robot is the first collision type obstacle
Sensor, the second collision detection element 15 are the second collision type obstacle sensor.That is, when crash device 12 is touched with barrier
When hitting, the first collision type obstacle sensor or the second collision type obstacle sensor are triggered, the first collision type obstacle passes
Turn signal is sent to by sensor or the second collision type obstacle sensor according to the corresponding relationship with sweeping robot steering angle
Transfer 31, which is realized, to be turned to.For example, transfer 31 may include microcontroller and universal wheel, when the first collision type obstacle passes
Sensor, which detects, to collide, and turn signal is sent to microcontroller, microcontroller is according to the first collision type obstacle sensor
Corresponding controlling steering angle universal wheel, which is realized, to be turned to.
In this way, in the case where microswitch or collision type obstacle sensor is only arranged, by the first collision detection member
Part 14 and the second collision detection element 15 are symmetrically disposed on the two sides of the 12 center line O-O of crash device, and institute
The corresponding central angle β of setting range is stated no more than 150 degree, it is ensured that sweeping robot during the motion send out by its different location point
Collision detecting device 13 can be triggered when raw collision, is dropped while sensitivity and the cleaning efficiency for guaranteeing sweeping robot
The low cost of sweeping robot.
The above, the only preferred embodiment of the utility model, are not intended to limit the protection of the utility model
Range.All any modifications, equivalent replacements, and improvements made within the spirit and scope of the utility model etc. are all contained in this
Within the protection scope of utility model.
Claims (10)
1. a kind of sweeping robot characterized by comprising robot body, crash device and collision detecting device；
The crash device is set to the front side of the robot body；
The collision detecting device includes the first collision detection element connecting with the robot body and the second collision detection
Element, the first collision detection element and the second collision detection element, which be set to the crash device center line, is
Within the scope of the setting of the heart, and the first collision detection element and the second collision detection element symmetry be located at the collision
The two sides of device center line, wherein the corresponding central angle of the setting range is not more than 150 degree, and first collision detection is first
Part and the second collision detection element respectively correspond a steering angle, when the first collision detection element or the second collision inspection
When survey element is triggered, the steering of the robot body and the first collision detection element of corresponding triggering or the second collision
The corresponding steering angle association of detecting element.
2. a kind of sweeping robot according to claim 1, which is characterized in that the first collision detection element and described
Second collision detection element is installed in respectively on the robot body, and the first collision detection element includes the first collision inspection
Survey element triggering end and output end, the second collision detection element include the second collision detection element triggering end and
Output end；The triggering end supports on the inner surface of the crash device, and the output end is electrically connected with the robot body
It connects.
3. a kind of sweeping robot according to claim 2, which is characterized in that the robot body includes turning to dress
It sets, the output end of the first collision detection element and the second collision detection element is electrically connected with the transfer respectively
It connects；
When the first collision detection element or the second collision detection element are triggered, the first collision detection element or
The corresponding turn signal that exports of the output end of the second collision detection element is turned to transfer realization.
4. sweeping robot according to claim 1, which is characterized in that the crash device includes being installed on the machine
Hit plate on front side of human body, it is described to hit that plate is arc-shaped, and it is described hit plate where the center of circle of circle and the center of circle of the robot body
It is overlapped.
5. sweeping robot according to claim 4, which is characterized in that the crash device further includes elastic component, described
Elastic component is installed on the robot body and is located at described hit between plate and the robot body；The elastic component includes
The department of assembly that is connect with the robot body and from the department of assembly to the support division for hitting plate direction and extending, it is described
Support division is symmetrically located at the two sides of the crash device center line, and the end of the support division is supported in the interior table for hitting plate
On face.
6. sweeping robot according to claim 4, which is characterized in that the plate face of hitting is into the robot body
Surface is equipped with hook, and the front side of the robot body is equipped with stopper section corresponding with the hook, the plate and described of hitting
It is arranged in the hook and is connected by the stopper section between robot body, plate described is hit for limiting in the stopper section
To the displacement far from the robot body direction.
7. sweeping robot according to claim 1 to 6, which is characterized in that the first collision detection element
The angle being correspondingly formed with the line of the second collision detection element and the center of circle of the robot body is 90 °~150 °.
8. sweeping robot according to claim 1, which is characterized in that further include: third collision detection element；Described
Three collision detection elements are set on the crash device center line, and the third collision detection element and first collision are examined
It is identical with the second collision detection element to survey element.
9. sweeping robot according to claim 1 to 6, which is characterized in that the first collision detection element
Microswitch is respectively included with the second collision detection element, when the microswitch is triggered, the robot body
Corresponding with the microswitch of the corresponding triggering steering angle of steering be associated with.
10. sweeping robot according to claim 1 to 6, which is characterized in that the first collision detection member
Part and the second collision detection element respectively include collision type obstacle sensor, when the collision type obstacle sensor is triggered
When, the steering of robot body steering angle association corresponding with the collision type obstacle sensor of corresponding triggering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820684576.8U CN208468395U (en) | 2018-05-09 | 2018-05-09 | A kind of sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820684576.8U CN208468395U (en) | 2018-05-09 | 2018-05-09 | A kind of sweeping robot |
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| CN208468395U true CN208468395U (en) | 2019-02-05 |
Family
ID=65221159
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820684576.8U Active CN208468395U (en) | 2018-05-09 | 2018-05-09 | A kind of sweeping robot |
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| CN (1) | CN208468395U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690726A (en) * | 2020-12-28 | 2021-04-23 | 追创科技(苏州)有限公司 | Hit board structure and robot of sweeping floor |
| CN115191870A (en) * | 2022-05-13 | 2022-10-18 | 麦岩智能科技(北京)有限公司 | Collision detection sensing device |
-
2018
- 2018-05-09 CN CN201820684576.8U patent/CN208468395U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690726A (en) * | 2020-12-28 | 2021-04-23 | 追创科技(苏州)有限公司 | Hit board structure and robot of sweeping floor |
| WO2022142393A1 (en) * | 2020-12-28 | 2022-07-07 | 追觅创新科技(苏州)有限公司 | Collision plate structure and robot vacuum cleaner |
| CN112690726B (en) * | 2020-12-28 | 2022-09-16 | 追觅创新科技(苏州)有限公司 | Hit board structure and robot of sweeping floor |
| CN115191870A (en) * | 2022-05-13 | 2022-10-18 | 麦岩智能科技(北京)有限公司 | Collision detection sensing device |
| CN115191870B (en) * | 2022-05-13 | 2024-06-04 | 麦岩智能科技(北京)有限公司 | Collision detection sensing device |
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Effective date of registration: 20210401 Address after: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou City, Jiangsu Province Patentee after: Meizhizongheng Technology Co.,Ltd. Address before: 39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215144 Patentee before: JIANGSU MIDEA CLEANING APPLIANCES Co.,Ltd. Patentee before: MIDEA GROUP Co.,Ltd. |